Correcting map shifting of a position tracking system including repositioning the imaging system and the patient in response to detecting magnetic interference

ABSTRACT

A system includes a processor and an output device. The processor is configured to: (a) receive electrical signals indicative of measured positions of (i) one or more chest position sensors attached externally to a chest of a patient, and (ii) one or more back position sensors attached externally to a back of the patient; (b) compare between (i) a first shift between the measured positions and respective predefined positions of the one or more chest position sensors, and (ii) a second shift between the measured positions and respective predefined positions of the one or more back position sensors; and (c) produce an alert in response to detecting a discrepancy between the first and second shifts. The output device is configured to output the alert to a user.

FIELD OF THE INVENTION

The present invention relates generally to medical devices, andparticularly to methods and systems for detecting and correcting mapshifting in position tracking systems.

BACKGROUND OF THE INVENTION

Various techniques for visualizing and mapping coordinates of medicalsystems are known in the art.

For example, U.S. Patent Application Publication 2012/0296202 describesa method and system for registering ultrasound images and physiologicalmodels to x-ray fluoroscopy images. A fluoroscopic image and anultrasound image, such as a Transesophageal Echocardiography (TEE)image, are received. A 2D location of an ultrasound probe is detected inthe fluoroscopic image. A 3D pose of the ultrasound probe is estimatedbased on the detected 2D location of the ultrasound probe in thefluoroscopic image.

U.S. Patent Application Publication 2015/0018668 describes a method thatincludes registering a fluoroscopic imaging system and a positiontracking system to a common frame of reference. A region of interest ismarked in a patient body by the position tracking system. Using thecommon frame of reference, a field of view of the fluoroscopic imagingsystem is set such that the region of interest appears in the field ofview.

SUMMARY OF THE INVENTION

An embodiment of the present invention that is described herein providesa system that includes a processor and an output device. The processoris configured to: (a) receive electrical signals indicative of measuredpositions of (i) one or more chest position sensors attached externallyto a chest of a patient, and (ii) one or more back position sensorsattached externally to a back of the patient; (b) compare between (i) afirst shift between the measured positions and respective predefinedpositions of the one or more chest position sensors, and (ii) a secondshift between the measured positions and respective predefined positionsof the one or more back position sensors; and (c) produce an alert inresponse to detecting a discrepancy between the first and second shifts.The output device is configured to output the alert to a user.

In some embodiments, the processor is configured to receive each of themeasured positions after receiving the predefined positions. In otherembodiments, the processor is configured to estimate distances betweenthe measured positions and the respective predefined positions, and todetect the discrepancy based on the estimated distances. In yet otherembodiments, the processor is configured to detect the discrepancy bydetecting that at least one of the distances between a predefinedposition and a respective measured position is above a predefinedthreshold value.

In an embodiment, the output device is configured to display at leastone value of the distances. In another embodiment, the processor isconfigured to initiate, based on the alert, a responsive action forreducing the discrepancy. In yet another embodiment, the processor isconfigured to: (i) calculate, based on the predefined positions, apredefined geometrical center-of-gravity (COG), (ii) calculate, based onthe measured positions, a measured geometrical COG, (iii) comparebetween the measured geometrical COG and respective predefinedgeometrical COG of the given set, and (iv) produce the alert in responseto detecting a discrepancy between the measured geometrical COG and thepredefined geometrical COG.

There is additionally provided, in accordance with an embodiment of thepresent invention, a method including, receiving electrical signalsindicative of measured positions of (i) one or more chest positionsensors attached externally to a chest of a patient, and (ii) one ormore back position sensors attached externally to a back of the patient.A comparison is carried out between (i) first shift between the measuredpositions and respective predefined positions of the one or more chestposition sensors, and (ii) a second shift between the measured positionsand respective predefined positions of the one or more back positionsensors. An alert is produced in response to detecting a discrepancybetween the first and second shifts. The alert is output to a user. Thepresent invention will be more fully understood from the followingdetailed description of the embodiments thereof, taken together with thedrawings in which:

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic, pictorial illustration of a system forcatheterization of a patient heart, in accordance with an embodiment ofthe present invention;

FIG. 2 is a schematic, pictorial illustration of patch icons overlaid ona patient heart image, in accordance with an embodiment of the presentinvention; and

FIG. 3 is a flow chart that schematically illustrates a method foralerting and correcting map shifting, in accordance with an embodimentof the present invention.

DETAILED DESCRIPTION OF EMBODIMENTS Overview

Embodiments of the present invention that are described hereinbelowprovide improved methods and systems for detecting and correcting a mapshifting that occurs during a medical procedure, such as a cardiacablation.

An ablation procedure typically involves navigating an ablation catheterto one or more positions in a patient heart for creating anelectropotential (EP) map of the heart, to be used later in carrying outthe actual ablation. The navigation of the catheter may be carried outusing any suitable position tracking system, such as a magnetic positiontracking system.

In some cases, a position map shifting may be caused, for example, by amovement of patient, or by metallic objects interfering with themagnetic position tracking system. As a result, the catheter may bedisplayed at a wrong position over the image of the heart. Failure todetect and correct such map shifts may result in a discrepancy betweenthe measured position and the actual position of the ablation catheter,which may require repeating the mapping procedure and thus extending thecycle time of the ablation procedure.

Note that even if a user of the ablation system, e.g., a physician, isaware of a map shifting event, he typically has no means for correctingthe shift accurately. For example, the shift may occur when the patientlifts his/her shoulder during the ablation, e.g., due to pain associatedwith the ablation, or for any other reason. In this example, thephysician may attempt to reposition the moving shoulder, but possiblynot accurately to the original position.

In some embodiments, a system for detecting and correcting map shiftingcomprises multiple patches attached externally to the patient torso,which are typically used for the navigation purposes. In someembodiments, six patches may be used, three back patches attached to thepatient back, forming a geometrical triangle, and three chest patchesare attached to the patient chest, each may be facing the respectiveback patch.

In some embodiments, each of the patches comprises a magnetic positionsensor configured to produce position signals indicative of the positionof the respective patch in the coordinate system of the magneticposition tracking system.

In some embodiments, the map shifting correcting system comprises aprocessor configured to receive the position signals during the mappingand ablation procedure. Initial positions of the patches that aremeasured before performing the mapping are referred to herein as“predefined positions”, and the positions of the patches measuredfurther-on during the ablation procedure are referred to herein as“measured positions”. In case of six patches, there are six predefinedpositions and six respective measured positions.

In some embodiments, the processor is configured to compare between therelative positions of the chest patches sensors and the relativepositions of the back patches sensors of the measured positions and therespective predefined positions. The processor is further configured toproduce a near real-time (RT) alert in response to detecting adiscrepancy between the measured and predefined relative positions of atleast one of the chest position sensors relative to the back positionsensors.

In some embodiments, the processor is further configured to display tothe user both the predefined and the measured positions, so that theuser may correct the map shifting by moving the patient torso to anappropriate posture.

The disclosed techniques provide the user with a near RT alert of a mapshifting event and a responsive action carried out by the processor orby the user, for correcting the map shifting accordingly, therebyimproving the position tracking accuracy and reducing the overall cycletime of ablation procedures.

System Description

FIG. 1 is a schematic, pictorial illustration of a system 10 forelectro-physiological mapping and ablating of a patient heart 40, inaccordance with an embodiment of the present invention.

In some embodiments, system 10 comprises a medical probe, such as acatheter 12, comprising a distal tip 13 that comprises a plurality ofdevices (not shown), such as a magnetic position sensor and/or animpedance sensor. During the mapping phase, a physician 16 insertscatheter 12, via an insertion point 30, into the vasculature of apatient 14, and navigate the catheter tip to the patient's heart basedon the position sensor of the magnetic position tracking system.Subsequently, catheter 12 is used for EP mapping and later ablatingtissue of heart 40.

In some embodiments, console 18 comprises a memory 22 and a processor20, which is typically a general-purpose computer, with suitable frontend and interface circuits for receiving signals from catheter 12 andfor controlling the other components of system 10 described herein.

Processor 20 may be programmed in software to carry out the functionsthat are used by the system, and the processor stores data for thesoftware in memory 22. The software may be downloaded to console 18 inelectronic form, over a network, for example, or it may be provided onnon-transitory tangible media, such as optical, magnetic or electronicmemory media. Alternatively, some or all of the functions of processor20 may be carried out by dedicated or programmable digital hardwarecomponents.

In some embodiments, system 10 further comprises a magnetic positiontracking system, and/or an impedance-based active current location (ACL)system. Each of these systems may be used for tracking the position ofdistal tip 13 for the purpose of navigating catheter 12 to EP mappingand ablation locations within heart 40 of patient 14.

In some embodiments, the magnetic position tracking system comprises alocation pad (not shown) comprising multiple (e.g., three) magneticfield-generators 36 placed at known positions external to patient 14,e.g., below the patient's back lying on a table 27, or below table 27.In an embodiment, console 18 assists in carrying out the techniquesdescribed herein.

In some embodiments, console 18 comprises a driver circuit 21,configured to drive field-generators 36 via a cable 38. When distal tip13 is navigated by physician 16 into heart 40, the magnetic positionsensor at distal tip 13, generates position signals in response to thesensed external magnetic fields produced by field-generators 36, therebyenabling processor 20 to identify the position of distal tip 13 withinthe cavity of heart 40.

The magnetic position sensor at the distal tip is connected to interfacecircuitry integrated with processor 20 at the catheter proximal end. Inan embodiment, the position of distal tip 13 is shown on an image 42 ofheart 40, which is displayed on a user display 34. In some embodiments,image 42 is acquired using an anatomical imaging system, such as afluoroscopic imaging system 24 or any other suitable imaging technique.Fluoroscopic imaging system 24 is connected to the magnetic positiontracking system via console 18.

In an embodiment, fluoroscopic imaging system 24 is typically positionedin a base position relative to patient 14, at a certain height above thepatient chest. For example, in an anterior-posterior (AP) positionorthogonal to patient chest, or in any other suitable angle relative tothe patient chest. During the procedure, an operator (e.g., physician16) may move system 24 to an image acquisition position shown in FIG. 1, which is typically closer to patient 14, so as to acquire image 42.

This method of magnetic-field based position sensing is implemented, forexample, in the CARTO™ system, produced by Biosense Webster Inc.(Irvine, Calif.) and is described in detail in U.S. Pat. Nos. 5,391,199,6,690,963, 6,484,118, 6,239,724, 6,618,612 and 6,332,089, in PCT PatentPublication WO 96/05768, and in U.S. Patent Application Publications2002/0065455 A1, 2003/0120150 A1 and 2004/0068178 A1, whose disclosuresare all incorporated herein by reference.

In some embodiments, system 20 comprises a plurality of position sensors28, which are coupled to the body of patient 14, e.g., using patches 29that adhere to the skin of patient 14. In other embodiments, anadditional electrode, such as impedance measurement electrode (notshown) or any other suitable electrode may be coupled to at least onepatch 29.

In the example of FIG. 1 , system 10 comprises six position sensors, ofwhich position sensors 28 a, 28 b, and 28 c are coupled to the front(e.g., chest) of patient 14, and position sensors 28 d, 28 e, and 28 fare coupled to the back of patient 14.

In other embodiments, system 10 may comprise any suitable number ofposition sensors, coupled to the patient skin in any suitablearrangement.

In an embodiment, each position sensor 28 produces a signal indicativeof the position of a respective patch 29 in the coordinate system of themagnetic position tracking system.

Position sensors 28 of respective patches 29 are typically connected,via a cable 32, to processor 20, which is configured to receive positionsignals from the position sensors. Based on the position signals,processor 20 is configured to estimate the position of each patch 29.

Display 34, is typically configured to facilitate performance of themapping and/or ablation procedures by displaying relevant information tophysician 16. For example, based on the position signals processor 20 isconfigured to display the locations of patches 29 and distal tip 13 ofcatheter 13 within image 42, e.g., by superimposing icons representingdistal tip 13 and catheter 12 over image 42, as will be depicted indetail in FIG. 2 below.

Reference is now made to an inset 41, which is a magnification of image42. As described above, the estimated locations of catheter 12 anddistal tip 13 may be indicated to the physician as suitable icons, suchas marker 62 (indicative of catheter 12) and marker 63 (indicative ofdistal tip 13) on display 34. Based on this indication, physician 16 maynavigate distal tip 13 of catheter 12 to one or more desired locationswithin heart 40.

In other embodiments, only marker 63 may be displayed on display 34,whereas catheter 12 may have position sensors coupled only to distal tip13. In alternative embodiments, fluoroscopic imaging system 24 may beused to acquire an image of catheter 12 in heart 40, so that processor20 may display marker 62 based on the acquired image.

In some embodiments, the medical (EP mapping and/or ablation) procedurestarts by measuring the initial positions of position sensors 28 a-28 fmounted on patches 29. In some embodiments, processor 20 is configuredto store these initial positions, referred to herein as “predefinedpositions,” for example, in memory 22 or in an internal memory ofprocessor 20.

During the EP mapping and/or ablation procedure, physician 16 navigatesdistal tip 13 to visit multiple locations within heart 40, so as tocarry out the EP mapping or the ablation procedures. In someembodiments, processor 20 is configured to receive from catheter 12, ateach of the visited locations, position coordinates of the visitedlocations as measured by the magnetic position tracking system. At thesame time, processor 20 also receives from position sensors 28, positionsignals indicative of the positions of respective patches 29.

In some embodiments, processor 20 is configured to display, on display34 or any other suitable output device, the currently measured positionsof each patch 29 and distal tip 13, overlaid on image 42.

Typically, processor 20 comprises a general-purpose processor, which isprogrammed in software to carry out the functions described herein. Thesoftware may be downloaded to the computer in electronic form, over anetwork, for example, or it may, alternatively or additionally, beprovided and/or stored on non-transitory tangible media, such asmagnetic, optical, or electronic memory.

Providing Alert of Map Shifting and Responsive Action

FIG. 2 is a schematic, pictorial illustration of icons 58 and 60, whichare indicative of the positions of respective patches 29, overlaid onimage 42, in accordance with an embodiment of the present invention.

In some embodiments, processor 20 is configured to visualize thepredefined and measured positions of position sensors 28 a-28 f. Forexample, processor 20 is configured to display icons 58 and 60 ondisplay 34 so as to indicate the predefined and measured positions ofposition sensors 28, respectively, as will be described in detail below.

In some embodiments, icons 58 a-58 f are indicative of the predefinedposition of patches 29 having respective position sensors 28 a-28 fcoupled thereto. Icons 58 a-58 c are indicative of the predefinedposition of respective position sensors 28 a-28 c, referred to herein aschest position sensors, coupled to the chest of patient 14. Icons 58d-58 f are indicative of the predefined position of respective positionsensors 28 d-28 f, referred to herein as back position sensors, coupledto the back of patient 14.

Processor 20 is configured to store the predefined position values ofposition sensors 28 a-28 f acquired in a memory, for example, in aninitialization step of the medical procedure, and to display respectiveicons 58 a-58 f overlaid, for example, on image 42.

Note that chest position sensors 28 a-28 c are moving due to respirationcycles of patient 14. In some embodiments, processor 20 is configured tocollect multiple position measurements of chest position sensors 28 a-28c over a period of time, and to apply various statistical tools, such asaveraging, so as to estimate the positions of icons 58 a-58 c.

In some embodiments, processor 20 is configured to produce a bodycoordinate system (BCS) whose origin is based on the positions ofpatches 29. In the example of FIG. 2 , the centers of icons 58 d-58 fthat visualize respective back position sensors 28 d-28 f, arepositioned on the vertices of a virtual triangle 66. In someembodiments, the origin of the BCS may be determined, for example, basedon a point 70, which is a geometrical center-of-gravity (COG) of virtualtriangle 66. The term “geometrical COG” is referred to below simply as“COG” for brevity.

In other embodiments, the origin of the BCS may be determined based onthe position signals received from a selected position sensor among backposition sensors 28 d-28 f. Note that the positions on icons 58 in theBCS are determined based on: (a) the position signals received fromposition sensors 28 and, (b) an estimated vector between a COG (notshown) of field-generators 36 and point 70 of the BCS.

During the medical procedure, the back of patient 14 is typicallysubstantially static relative to the COG of field-generators 36,therefore, point 70 is substantially stationary in the coordinate systemof the magnetic position system. In exemplary cases, the position ofchest position sensors 28 a-28 c and heart 40, may shift relative topoint 70, for example when patient 14 lifts a shoulder.

In these cases, the shifted position of heart 40 may cause map shiftingbetween the predefined and measured positions described above. Failureto detect and correct such map shifts may result in faulty positiontracking of distal tip 13 and, in severe cases, may require repeatingthe mapping procedure and extending the cycle time of the medicalprocedure.

In the example of FIG. 2 , heart 40 is shifted from an initial positionshown as a schematic icon 46, to a shifted position shown as a schematicicon 48. Note that schematic icons 46 and 48 are shown in FIG. 2 for thesake of clarity and may not be actually displayed in image 42. In otherembodiments, images of heart 40 may be acquired before and after theshift, for example using fluoroscopy imaging system 24, and displayed byprocessor 20 on display 34.

In some embodiments, processor 20 is configured to display icons 60 a-60f, indicative of the presently measured position of respective positionsensors 28 a-28 f mounted thereon. Icons 60 a-60 c are indicative of thecurrently measured positions of respective chest position sensors 28a-28 c, and icons 60 d-60 f are indicative of the currently measuredpositions of respective back position sensors 28 d-28 f. In the contextof the present disclosure and in the claims, the terms “currentlymeasured” and “measured” are used interchangeably and refer to thecurrent position of one or more given patches 29 measured usingrespective position sensors 28.

In the example of FIG. 2 , icons 58 a-58 c, representing the predefinedrespective position of chest position sensors 28 a-28 c, are arranged ina virtual triangle 64, such that the centers of icons 58 a-58 c arepositioned on the vertices of triangle 64. In some embodiments,processor is configured to calculate (and optionally display) point 80,indicative of the geometrical COG of triangle 64, and to calculate avector 82 between points 70 and 80.

Similarly, the centers of icons 60 a-60 c, representing the currentrespective positions of chest position sensors 28 a-28 c, are positionedon the vertices of a virtual triangle 68. In some embodiments, processor20 is configured to calculate (and optionally display) point 90,indicative of the COG of triangle 68, and to calculate a vector 84,between points 70 and 90.

In some embodiments, processor 20 is configured to estimate a distance88 between points 80 and 90, which is indicative of the level of mapshifting caused by the move of the patient shoulder. In an embodiment,processor 20 may calculate distance 88 by subtracting between vectors 82and 84.

In some embodiments, processor 20 is configured to store, e.g., inmemory 22, a specified threshold value, to be compared with thedistance, so as to determine whether the distance between points 80 and90 is within the specified threshold value. For example, the specifiedthreshold value may be determined to 4 mm.

In the example of FIG. 2 , processor 20 is configured to compare betweendistance 88, which is 4.6 mm, and the threshold value. In response todetecting that distance 88 exceeds the threshold value, processor 20 isconfigured to produce an alert to the operator of system 10 (e.g.,physician 16).

In some embodiments, the alert is displayed as the value of distance 88,as shown in FIG. 2 . In other embodiments, the alert may be indicatedusing any other suitable form, such as by overlaying on image 42 a textcomprising an error code, displaying distances that do not exceed thethreshold value in green color and the distance that exceeds thethreshold value in red color.

As described above, the relative positions between position sensors 28a-28 f may change due to unintended move of the torso of patient 14,which moves patches 29 relative to one another. In other cases, metallicobjects (e.g., fluoroscopic imaging system 24 or another medical tool orsystem) may cause interference in the magnetic fields of the magneticposition tracking system. In some embodiments, processor 20 isconfigured to detect the map shifting and may assist the operator ofsystem 10 to identify the source causing the map shifting, and tocorrect the shift.

In some embodiments, instead of comparing between COGs, such as points70, 80 and 90, processor 20 is configured to compare between thepositions of any selected positions of the predefined positions andrespective measured positions of position sensors 28 a-28 f, and tooutput the positions and the comparison result, for example, to display34. In an example embodiment, processor 20 is configured to calculate adistance 44, which is the distance between the centers of icons 58 c and60 c, and is indicative of the position shift of chest position sensor28 c. In this example, processor 20 is configured to compare between theshift of point 70 and distance 44.

In another example, Processor 20 is configured to calculate a distance50, indicative of the position shift of back position sensor 28 flocated in front of chest position sensor 28 c, and to compare betweendistances 44 and 50. The same comparison may be carried out between anyposition sensors, such as between position sensors 28 a and 28 d, andbetween position sensors 28 b and 28 e.

In some embodiments, processor 20 is configured to store a specifiedthreshold value, to be compared with the distance, so as to determinewhether the distance between each pair of icons 58 and 60 is within thespecified threshold value, e.g., 4 mm. In case the torso of patient 14moves as a rigid body, such that all measured distances are above 4 mmbut substantially similar in distance and direction, processor 20 willnot issue an alert.

In some embodiments, processor 20 is configured to store a thresholdvalue for each of the comparisons described above. The thresholds valuemay be different for each comparison.

In some embodiments, processor 20 is configured to output a displayaccording to value of distance relative to the threshold. In someembodiments, processor 20 supports threes display modes as follows: (i)displaying only the value of the distance in case the value is below thespecified threshold value. This display mode indicates that registrationis within the specification. (ii) Displaying an underline below thevalue of the distance, which indicates that the value of the distance isabove the specified value, however the respective patch is adhered tothe chest and therefore is not suspected as causing a registrationproblem. (iii) Displaying a frame surrounding the value of the distance,which indicates that the value of the distance is above the specifiedvalue for a patch adhered to the back of patient 14.

This display mode indicates that processor 20 detected a discrepancybetween the measured and predefined positions, which may indicatepatient change of posture that may cause a map shift. In other words,the shift between the at least one of the chest position sensors and theBCS exceeds the specification and a responsive action is required. Insome of these embodiments, processor 20 is further configured to displayan arrow (not shown) indicating the direction of the map shifting. Inother embodiments, processor 20 may support any other suitable displaymodes, which may be predefined or configured by the user of system 10.

As described above, metallic objects may cause interference in themagnetic fields of the magnetic position tracking system, resulting in adiscrepancy between the measured and predefined positions of one or moreposition sensors 28. The inventors found that such interferences maycause shifts between predefined and measured positions of respectivepatches 29 to distance values substantially larger than 4 mm.

In some embodiments, processor 20 is configured to determine whether thesource of the discrepancy is a field interference or another source,such as movement of a shoulder or another part of the patient torso. Inorder not to falsely alert on a map shift, processor 20 is required toidentify the source of the movement of sensors 28.

In some embodiments, processor 20 is configured to detect magneticinterference using various methods, such as but not limited to, locationconvergence figure of merit of a location algorithm.

In response to detecting a magnetic interference in one or more ofposition sensors 28 d-28 f, processor 20 is configured to output analert of the detected discrepancy. Processor 20 may further display amessage (e.g., on display 34) suggesting the operator of system 10(e.g., physician 16) to move fluoroscopic system 24 to a distance largerthan the currently used distance from the chest position sensors, or,for example, to the base position described above.

In example embodiments, in response to detecting a distance valueslarger than a threshold, e.g. 4 mm between points 80 and 90, processor20 is configured to display an arrow (not shown), indicative of thedirection caused by the map shifting, for example, by moving a leftshoulder of patient 14. In these embodiments, physician 16 or any otherauthorized person, may move the left shoulder of patient 14 in adirection opposite to the direction of the arrow so as to correct theshift and resume the mapping or procedure.

The icons, markers and alerts displayed in FIG. 2 are shown by way ofexample, in order to illustrate certain problems that are addressed byembodiments of the present invention and to demonstrate the applicationof these embodiments in enhancing the performance of system 10.

Embodiments of the present invention, however, are by no means limitedto these specific sort of examples. In other embodiments, distancevalues showing a discrepancy between the measured and predefinedpositions, may have a different color. For example, white and red colorsfor distance values below and above 4 mm, respectively.

Furthermore, processor 20 is configured to output an alert of thedetected discrepancy in any suitable manner, such as, but not limited totext, sound, image or a three-dimensional (3D) representation.

FIG. 3 is a flow chart that schematically illustrates a method foralerting and correcting a discrepancy between the measured andpredefined relative positions of one or more patches adhered to the bodyof patient 14, in accordance with an embodiment of the presentinvention.

The method begins at a predefined position holding step 100, withprocessor 20 receiving and holding initial (denoted “predefined”)position values of position sensors 28 a-28 f attached externally topatient by respective patches 29. In some embodiments, the predefinedposition values of position sensors 28 a-28 f are acquired as part of aninitialization of the medical procedure, or the position trackingcarried out during the procedure. At a measured position acquisitionstep 102, during the medical procedure, processor 20 receives positionsignals indicative of the current respective positions of sensors 28a-28 f.

At a comparison step 104, processor 20 compares between the predefinedpositions and the measured positions of the respective position sensors.In the example of FIG. 2 , point 80 is indicative of the COG of triangle64, and point 90 is indicative of the COG of triangle 68. In thisexample, a distance of 4.6 mm is measured by processor 20, as distance88 between points 80 and 90.

At a detection step 106, processor 20 checks whether there is adiscrepancy between the predefined and measured positions. In someembodiments, processor 20 compares between the threshold value, e.g., 4mm, and distance 88 estimated at comparison step 104 above, which isproportional to the map shifting occurred during the medical procedure.In these embodiments, processor 20 detects a discrepancy between thepredefined and measured positions when the estimated distance is largerthan the threshold value. If no discrepancy detected, the methodcontinues to a procedure performing step 108, in which the operator(e.g., physician 16) applies system 10 to carry out the medicalprocedure.

In the example of FIG. 2 , a discrepancy was detected between points 80and 90 indicating a map shifting, measured by the value of distance 4.6mm, which is above the threshold value of 4 mm. At an alert outputtingstep 110, processor 20 outputs an alert of the detected discrepancy.

In some embodiments, processor 20 is further configured to display, ondisplay 34, an error code number (not shown) indicative of the type ofdiscrepancy detected by processor 20. For example, a discrepancydetected on a single position sensor (e.g., position sensor 28 d)receives a given error code number, and a discrepancy detected betweenCOGs of two respective triangles laid out between multiple positionsensors 28, e.g., between points 80 and 90, receives a different errorcode number.

As described in FIG. 2 above, the discrepancy may be caused by aninterference in the magnetic fields of the magnetic position trackingsystem. In the configuration of system 10, when fluoroscopic imagingsystem 24, which typically comprises metallic parts, is at an operativeposition, some of the metallic parts are in close proximity to patches29 and to field-generators 36, and therefore, may cause magneticinterference.

At an interference checking step 112, processor 20 checks whethermagnetic interference is detected in signals received from chestposition sensors 28 a-28 c. If interference is detected, processor 20produces an alert to move system 24. At a fluoroscope moving step 114,the operator of system 10 moves system 24 away from chest positionsensors 28 a-28 c to a larger distance and/or to a different angle, e.g.AP position, until the interference is within allowed magnitude, andsubsequently, the method loops back to measured position acquisitionstep 102.

If processor 20 detects discrepancy in the relative position of thepatches and there is no indication of magnetic interference, processor20 produces an alert to move patient 14. At a patient moving step 116, aclinical operator moves patient 14 so as to correct the map shifting byaligning between respective icons 58 and 60. Subsequently, the methodloops back to measured position acquisition step 102.

The configuration of system 10 is depicted by way of example for thesake of conceptual clarity. In alternative embodiments, system 10 maycomprise any suitable additional or alternative components and modulesconfigured to enable the embodiments described in FIGS. 1-3 above.

The steps of the method described above may continue iteratively untilthere are no discrepancies between the predefined and measured values,so that the operator of system 10 may carry out the medical procedureand the method terminates.

Although the embodiments described herein mainly address positiontracking in electro-physiological mapping procedures, the methods andsystems described herein can also be used in other applications.

It will thus be appreciated that the embodiments described above arecited by way of example, and that the present invention is not limitedto what has been particularly shown and described hereinabove. Rather,the scope of the present invention includes both combinations andsub-combinations of the various features described hereinabove, as wellas variations and modifications thereof which would occur to personsskilled in the art upon reading the foregoing description and which arenot disclosed in the prior art. Documents incorporated by reference inthe present patent application are to be considered an integral part ofthe application except that to the extent any terms are defined in theseincorporated documents in a manner that conflicts with the definitionsmade explicitly or implicitly in the present specification, only thedefinitions in the present specification should be considered.

The invention claimed is:
 1. A system for correcting map shifting,comprising: a processor, which is configured to: receive electricalsignals indicative of measured positions of one or more chest positionsensors configured to be attached externally to a chest of a patient,and one or more back position sensors configured to be attachedexternally to a back of the patient; compare at least one of (i) therespective measured positions and predefined positions of the one ormore chest position sensors, or (ii) the respective measured positionsand predefined positions of the one or more back position sensors; causean alert to be displayed on an output device in response to detecting adiscrepancy between at least one of (i) the respective measured andpredefined positions of the one or more chest position sensors, or (ii)the respective measured and predefined positions of the one or more backposition sensors; determine whether magnetic interference from ananatomical imaging system is detected in the electrical signals receivedby the one or more chest position sensors; reposition, in response todetecting magnetic interference, the anatomical imaging system away fromthe one or more chest position sensors until the detected magneticinterference is within an allowable magnitude; reposition the patient toalign at least one of the measured positions and predefined positions ofthe: i) one or more chest position sensors, or ii) the one or more backposition sensors, in response to detecting the discrepancy; compare,when no magnetic interference is detected or the detected magneticinterference is within an allowable magnitude, received additionalelectrical signals indicative of measured positions of the one or morechest position sensors and the one or more back position sensors afterrepositioning the patient until there is no discrepancy.
 2. The systemaccording to claim 1, wherein the processor is configured to receiveeach of the measured positions after receiving the predefined positions.3. The system according to claim 1, wherein the processor is configuredto estimate distances between the measured positions and the respectivepredefined positions, and to detect the discrepancy based on theestimated distances.
 4. The system according to claim 3, wherein theprocessor is configured to detect the discrepancy by detecting that atleast one of the distances between a predefined position and arespective measured position is above a predefined threshold value. 5.The system according to claim 3, wherein the output device is configuredto display at least one value of the distances.
 6. The system accordingto claim 1, wherein the processor is configured to indicate on theoutput device, based on the alert, a responsive action for reducing thediscrepancy.
 7. The system according to claim 1, wherein the processoris configured to: (i) calculate, based on the predefined positions, apredefined geometrical center-of-gravity (COG), (ii) calculate, based onthe measured positions, a measured geometrical COG, (iii) compare themeasured geometrical COG with the respective predefined geometrical COG,and (iv) produce the alert in response to detecting a discrepancybetween the measured geometrical COG and the predefined geometrical COG.8. A method for correcting map shifting, comprising: receivingelectrical signals indicative of measured positions of one or more chestposition sensors configured to be attached externally to a chest of apatient, and one or more back position sensors configured to be attachedexternally to a back of the patient; comparing at least one of (i) therespective measured positions and predefined positions of the one ormore chest position sensors, or (ii) the respective measured positionsand predefined positions of the one or more back position sensors; causean alert to be displayed on an output device in response to detecting adiscrepancy between at least one of (i) the respective measured andpredefined positions of the one or more chest position sensors, or (ii)the respective measured and predefined positions of the one or more backposition sensors; determining whether magnetic interference from ananatomical imaging system is detected in the electrical signals receivedby the one or more chest position sensors; repositioning, in response todetecting magnetic interference, the anatomical imaging system away fromthe one or more chest position sensors until the detected magneticinterference is within an allowable magnitude; repositioning the patientto align at least one of the measured positions and predefined positionsof the: i) one or more chest position sensors, or ii) the one or moreback position sensors, in response to detecting the discrepancy;comparing, when no magnetic interference is detected or the detectedmagnetic interference is within an allowable magnitude, receivedreceiving additional electrical signals indicative of measured positionsof the one or more chest position sensors and the one or more backposition sensors after repositioning the patient until there is nodiscrepancy.
 9. The method according to claim 8, wherein receiving theelectrical signals comprises receiving each of the measured positionsafter receiving the predefined positions.
 10. The method according toclaim 8, wherein comparing between the measured positions and respectivepredefined positions comprises estimating distances between the measuredpositions and the respective predefined positions, and wherein producingthe alert comprises detecting the discrepancy based on the estimateddistances.
 11. The method according to claim 10, wherein detecting thediscrepancy comprises detecting that at least one of the distancesbetween a predefined position and a respective measured position isabove a predefined threshold value.
 12. The method according to claim10, wherein outputting the alert comprises displaying at least one valueof the distances.
 13. The method according to claim 8, furthercomprising indicating on the output device, based on the alert, aresponsive action for reducing the discrepancy.
 14. The method accordingto claim 8, wherein comparing between the measured positions and therespective predefined positions comprises: (i) calculating, based on thepredefined positions, a predefined geometrical center-of-gravity (COG),(ii) calculating, based on the measured positions, a measuredgeometrical COG, and (iii) comparing the measured geometrical COG withthe respective predefined geometrical COG; and wherein producing thealert comprises producing the alert in response to detecting adiscrepancy between the measured geometrical COG and the predefinedgeometrical COG.
 15. A non-transitory computer-readable medium havingcomputer-readable instructions embodied therein to be executed by one ormore processors, the instructions causing the one or more processors to:receive electrical signals indicative of measured positions of one ormore chest position sensors configured to be attached externally to achest of a patient, and one or more back position sensors configured tobe attached externally to a back of the patient; compare at least one of(i) the respective measured positions and predefined positions of theone or more chest position sensors, or (ii) the respective measuredpositions and predefined positions of the one or more back positionsensors; cause an alert to be displayed on an output device in responseto detecting a discrepancy between at least one of (i) the respectivemeasured and predefined positions of the one or more chest positionsensors, or (ii) the respective measured and predefined positions of theone or more back position sensors; determine whether magneticinterference from an anatomical imaging system is detected in theelectrical signals received by the one or more chest position sensors;reposition, in response to detecting magnetic interference, theanatomical imaging system away from the one or more chest positionsensors until the detected magnetic interference is within an allowablemagnitude; reposition the patient to align at least one of the measuredpositions and predefined positions of the: i) one or more chest positionsensors, or ii) the one or more back position sensors, in response todetecting the discrepancy; compare, when no magnetic interference isdetected or the detected magnetic interference is within an allowablemagnitude, received additional electrical signals indicative of measuredpositions of the one or more chest position sensors and the one or moreback position sensors after repositioning the patient until there is nodiscrepancy.
 16. The non-transitory computer-readable medium accordingto claim 15, wherein the computer-readable instructions include furtherinstructions to receive each of the measured positions after receivingthe predefined positions.
 17. The non-transitory computer-readablemedium according to claim 15, wherein the computer-readable instructionsinclude further instructions to estimate distances between the measuredpositions and the respective predefined positions, and to detect thediscrepancy based on the estimated distances.
 18. The non-transitorycomputer-readable medium according to claim 17, wherein thecomputer-readable instructions include further instructions to furtherinstructions to detect the discrepancy by detecting that at least one ofthe distances between a predefined position and a respective measuredposition is above a predefined threshold value.
 19. The non-transitorycomputer-readable medium according to claim 17, wherein the outputdevice is configured to display at least one value of the distances. 20.The non-transitory computer-readable medium according to claim 15,wherein the computer-readable instructions include further instructionsto: (i) calculate, based on the predefined positions, a predefinedgeometrical center-of-gravity (COG), (ii) calculate, based on themeasured positions, a measured geometrical COG, (iii) compare themeasured geometrical COG with the respective predefined geometrical COG,and (iv) produce the alert in response to detecting a discrepancybetween the measured geometrical COG and the predefined geometrical COG.